//------------------------------------------------------------------------------
//  <copyright file="CSMDGenerators.h" company="Microsoft Corporation">
// The MIT License (MIT)
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// Copyright (c) 2014, Microsoft Corporation
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//------------------------------------------------------------------------------

#pragma once

#include "KukaLBR4NativeTests.h"

/// <summary>
/// Generate a csmd that waits for the FRI state to enter CMD mode and then execute a position movement 
/// </summary>
/// <returns>
/// A <c>ControllerStateMachineDescription</c> for a csmd that waits for the FRI state
/// to enter CMD mode and then executes a position movement.
/// </returns>
KUKALBR4NATIVETESTS_API ControllerStateMachineDescription GenerateSimplePositionCsmd();

/// <summary>
/// Generate a csmd that waits for the FRI state to enter CMD mode and then execute a Cartesian position movement 
/// </summary>
/// <returns>
/// A <c>ControllerStateMachineDescription</c> for a csmd that waits for the FRI state
/// to enter CMD mode and then executes a position movement.
/// </returns>
KUKALBR4NATIVETESTS_API ControllerStateMachineDescription GenerateSimpleCartesianDeltaMoveCsmd();
